#ifndef _CONTROLLER_H_
#define _CONTROLLER_H_


#include "stm32f10x.h"                  // Device header
#include "attitudeAlgorithm.h"
#include "publicData.h"
#include "Peripheral.h"
#include "parameter.h"
#include "Filter.h"

extern short feedBack_pitch, feedBack_roll, feedBack_yaw;
extern vs16 conROLL_old,conPITCH_old;
extern vs16 con1,con2,con3,con4;
extern u8 sign;

void PID_Controller(void);


#endif
